Low-speed control method and system for automatic parking of vehicle, vehicle and storage medium

Abstract

The invention discloses a low-speed control method and system for automatic parking of a vehicle, the vehicle and a storage medium. The method comprises the steps of obtaining parking space information in a driving process after a parking activation signal is received, and planning a parking path after a parking space is determined; setting a real-time target vehicle speed as a control target; acquiring the actual speed of the vehicle; looking up a corresponding relation table of the target vehicle speed and the vehicle speed difference threshold according to the target vehicle speed to obtain a corresponding vehicle speed difference threshold under the current target vehicle speed, and when the difference value of the target vehicle speed and the actual vehicle speed is smaller than or equal to the vehicle speed difference threshold, not adopting the braking action at the moment even if the ESP braking force is calculated through a PID control algorithm; and when the difference value between the target vehicle speed and the actual vehicle speed is larger than the vehicle speed difference threshold, calculating the ESP braking force through the PID control algorithm, and carrying out braking adjustment on the whole vehicle. According to the invention, the stability of the vehicle speed can be ensured when the vehicle speed is controlled to be low, and pause caused by frequent braking in the ESP braking process can be reduced.

Description

technical field [0001] The invention belongs to the technical field of automatic parking of fuel vehicles, and in particular relates to a low-speed control method, system, vehicle and storage medium for automatic parking of vehicles. Background technique [0002] In the process of fully automatic parking, the parking controller will control the vehicle to move at a set minimum target speed. Since the power of fuel vehicles comes from the engine, the minimum output torque provided by the vehicle engine is enough to make the vehicle reach a speed of about 10km / h on a flat road, and the set target speed in the process of fully automatic parking is 2-4km / h, so The control of the vehicle speed is mainly achieved through the ESP (body stability system) system to provide braking force to balance the output power of the engine, and the stable control of the target speed usually adopts the PID speed closed-loop control method. For example, the patent document CN 107618504A discloses...

AI Technical Summary

Problems solved by technology

The target vehicle speed can be controlled more precisely through the PID controller, such as figure 1 As shown, in the process of t0-t1, even if the vehicle speed fluctuates slightly above and below the target vehicle speed, the balance braking force required by the ESP will be calculated in real time during the PID control process, and the real-time calculation will lead to frequent braking of the ESP

In the parking process, the precise control of the target vehicle speed is not very demanding, and passengers are more sensitive to the experience of vehicle speed changes. The precise control of vehicle speed has little impact on the overall vehicle experience, but the speed changes and The frustration of the whole vehicle will cause poor comfort experience for passengers

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